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Follow googlecartographer/cartographer#462. (#486)

master
Wolfgang Hess 2017-08-18 17:59:14 +02:00 committed by GitHub
parent 5a2db79fc3
commit af28b769b4
2 changed files with 7 additions and 7 deletions
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11
cartographer_ros/cartographer_ros/assets_writer_main.cc
View File

@ -196,9 +196,8 @@ void Run(const string& pose_graph_filename,
ReadStaticTransformsFromUrdf(urdf_filename, &tf_buffer); ReadStaticTransformsFromUrdf(urdf_filename, &tf_buffer);
} }
const auto transform_interpolation_buffer = const carto::transform::TransformInterpolationBuffer
carto::transform::TransformInterpolationBuffer::FromTrajectory( transform_interpolation_buffer(trajectory_proto);
trajectory_proto);
rosbag::Bag bag; rosbag::Bag bag;
bag.open(bag_filename, rosbag::bagmode::Read); bag.open(bag_filename, rosbag::bagmode::Read);
rosbag::View view(bag); rosbag::View view(bag);
@ -211,15 +210,15 @@ void Run(const string& pose_graph_filename,
if (message.isType<sensor_msgs::PointCloud2>()) { if (message.isType<sensor_msgs::PointCloud2>()) {
points_batch = HandleMessage( points_batch = HandleMessage(
*message.instantiate<sensor_msgs::PointCloud2>(), tracking_frame, *message.instantiate<sensor_msgs::PointCloud2>(), tracking_frame,
tf_buffer, *transform_interpolation_buffer); tf_buffer, transform_interpolation_buffer);
} else if (message.isType<sensor_msgs::MultiEchoLaserScan>()) { } else if (message.isType<sensor_msgs::MultiEchoLaserScan>()) {
points_batch = HandleMessage( points_batch = HandleMessage(
*message.instantiate<sensor_msgs::MultiEchoLaserScan>(), *message.instantiate<sensor_msgs::MultiEchoLaserScan>(),
tracking_frame, tf_buffer, *transform_interpolation_buffer); tracking_frame, tf_buffer, transform_interpolation_buffer);
} else if (message.isType<sensor_msgs::LaserScan>()) { } else if (message.isType<sensor_msgs::LaserScan>()) {
points_batch = HandleMessage( points_batch = HandleMessage(
*message.instantiate<sensor_msgs::LaserScan>(), tracking_frame, *message.instantiate<sensor_msgs::LaserScan>(), tracking_frame,
tf_buffer, *transform_interpolation_buffer); tf_buffer, transform_interpolation_buffer);
} }
if (points_batch != nullptr) { if (points_batch != nullptr) {
points_batch->trajectory_id = trajectory_id; points_batch->trajectory_id = trajectory_id;

3
cartographer_ros/cartographer_ros/offline_node_main.cc
View File

@ -213,7 +213,8 @@ void Run(const std::vector<string>& bag_filenames) {
} }
// Ensure the clock is republished after the bag has been finished, during the // Ensure the clock is republished after the bag has been finished, during the
// final optimization, serialization, and optional indefinite spinning at the end. // final optimization, serialization, and optional indefinite spinning at the
// end.
clock_republish_timer.start(); clock_republish_timer.start();
node.RunFinalOptimization(); node.RunFinalOptimization();